feat: Adding Bepu back

examples/code-only/Example01_Basic2DScene/Example01_Basic2DScene.csproj

@@ -7,6 +7,10 @@
         <Nullable>enable</Nullable>
     </PropertyGroup>
 
+    <!--<ItemGroup>
+        <PackageReference Include="Stride.Core.Assets.CompilerApp" Version="4.2.0.2122" IncludeAssets="build" />
+    </ItemGroup>-->
+
     <Target Name="PostBuild" AfterTargets="PostBuildEvent">
         <Exec Command="copy ..\Resources\JumpyJetBackground.jpg $(OutDir)" />
     </Target>

src/Stride.CommunityToolkit/Bepu/Body2DComponent.cs

@@ -0,0 +1,69 @@
+using BepuPhysics;
+using BepuPhysics.Collidables;
+using Stride.BepuPhysics;
+using Stride.Engine;
+using System.Reflection;
+
+namespace Stride.CommunityToolkit.Bepu;
+
+// ToDo Remove this class once it is implemented in Stride
+[ComponentCategory("Bepu")]
+public class Body2DComponent : BodyComponent
+{
+    Vector3 _rotationLock = new Vector3(0, 0, 0);
+
+    [DataMemberIgnore]
+    internal Vector3 RotationLock
+    {
+        get
+        {
+            return _rotationLock;
+        }
+        set
+        {
+            _rotationLock = value;
+            AccessBodyReference(value);
+            //if (BodyReference is { } bRef)
+            //{
+            //    bRef.LocalInertia.InverseInertiaTensor.XX *= value.X;
+            //    bRef.LocalInertia.InverseInertiaTensor.YX *= value.X * value.Y;
+            //    bRef.LocalInertia.InverseInertiaTensor.ZX *= value.Z * value.X;
+            //    bRef.LocalInertia.InverseInertiaTensor.YY *= value.Y;
+            //    bRef.LocalInertia.InverseInertiaTensor.ZY *= value.Z * value.Y;
+            //    bRef.LocalInertia.InverseInertiaTensor.ZZ *= value.Z;
+            //}
+        }
+    }
+
+    protected override void AttachInner(RigidPose containerPose, BodyInertia shapeInertia, TypedIndex shapeIndex)
+    {
+        base.AttachInner(containerPose, shapeInertia, shapeIndex);
+#warning what about a body that become kinematic after some time ?
+        if (!Kinematic)
+            RotationLock = new Vector3(0, 0, 1);
+    }
+
+    public void AccessBodyReference(Vector3 value)
+    {
+        // Get the type of the BodyComponent to access its members
+        var bodyComponentType = typeof(BodyComponent);
+
+        var bodyReferenceProperty = bodyComponentType.GetProperty("BodyReference", BindingFlags.NonPublic | BindingFlags.Instance);
+
+        if (bodyReferenceProperty != null)
+        {
+            // Get the value of 'BodyReference' property for 'this' instance
+            var bodyReferenceValue = bodyReferenceProperty.GetValue(this);
+
+            if (bodyReferenceValue is BodyReference bRef)
+            {
+                bRef.LocalInertia.InverseInertiaTensor.XX *= value.X;
+                bRef.LocalInertia.InverseInertiaTensor.YX *= value.X * value.Y;
+                bRef.LocalInertia.InverseInertiaTensor.ZX *= value.Z * value.X;
+                bRef.LocalInertia.InverseInertiaTensor.YY *= value.Y;
+                bRef.LocalInertia.InverseInertiaTensor.ZY *= value.Z * value.Y;
+                bRef.LocalInertia.InverseInertiaTensor.ZZ *= value.Z;
+            }
+        }
+    }
+}

src/Stride.CommunityToolkit/Bepu/Simulation2DComponent.cs

@@ -0,0 +1,52 @@
+using Stride.BepuPhysics;
+using Stride.BepuPhysics.Components;
+using Stride.Engine;
+
+namespace Stride.CommunityToolkit.Bepu;
+
+// ToDo Remove this class once it is implemented in Stride
+[ComponentCategory("Bepu")]
+public class Simulation2DComponent : SimulationUpdateComponent
+{
+    //public float MaxZLiberty { get; set; } = 0.05f;
+
+    public override void SimulationUpdate(float simTimeStep)
+    {
+
+    }
+
+    public override void AfterSimulationUpdate(float simTimeStep)
+    {
+        if (BepuSimulation == null)
+            return;
+
+        for (int i = 0; i < BepuSimulation.Simulation.Bodies.ActiveSet.Count; i++)
+        {
+            var handle = BepuSimulation.Simulation.Bodies.ActiveSet.IndexToHandle[i];
+            var body = BepuSimulation.GetContainer(handle);
+
+            if (body is not Body2DComponent)
+                continue;
+
+            //if (body.Position.Z > MaxZLiberty || body.Position.Z < -MaxZLiberty)
+            if (body.Position.Z != 0)
+                body.Position *= new Vector3(1, 1, 0);//Fix Z = 0
+            //if (body.LinearVelocity.Z > MaxZLiberty || body.LinearVelocity.Z < -MaxZLiberty)
+            if (body.LinearVelocity.Z != 0)
+                body.LinearVelocity *= new Vector3(1, 1, 0);
+
+            var bodyRot = body.Orientation;
+            Quaternion.RotationYawPitchRoll(ref bodyRot, out var yaw, out var pitch, out var roll);
+            //if (yaw > MaxZLiberty || pitch > MaxZLiberty || yaw < -MaxZLiberty || pitch < -MaxZLiberty)
+            if (yaw != 0 || pitch != 0)
+                body.Orientation = Quaternion.RotationYawPitchRoll(0, 0, roll);
+            //if (body.AngularVelocity.X > MaxZLiberty || body.AngularVelocity.Y > MaxZLiberty || body.AngularVelocity.X < -MaxZLiberty || body.AngularVelocity.Y < -MaxZLiberty)
+            if (body.AngularVelocity.X != 0 || body.AngularVelocity.Y != 0)
+                body.AngularVelocity *= new Vector3(0, 0, 1);
+        }
+    }
+
+    public override void Update()
+    {
+    }
+}